Robot gripper with online controllable clamping force and clamping speed

Abstract

A clamping force and clamping speed online controllable robot gripper comprises steering engines, fingers, a bottom plate, a main substrate, an auxiliary substrate, driven connecting rods, a rotating shaft, a gear, sector-shaped gears, a gear shaft, driving connecting rods and a transverse plate. The gears are meshed with the sector-shaped gears, the sector-shaped gears are connected with the gear shaft, and a torsion spring is arranged between the sector-shaped gears and the gear shaft; driving connecting rods are located on the outer side of the main substrate and the outer side of the auxiliary substrate respectively, one ends of the driving connecting rods are connected with the two ends of the gear shaft respectively, and the other ends of the driving connecting rods are connected through the transverse plate; one ends of the driven connecting rods are connected with the two ends of the transverse plate respectively, and the other ends of the driven connecting rods are connected through the rotating shaft; and the steering engines are arranged in a bilateral symmetry manner and are fixedly arranged on the inner side of the main substrate. The steering engines output the rotating angle and the rotating angular speed to the fingers, the clamping force and the clamping speed of the gripper can be controlled in an online manner, and the robot gripper is simple in structure, reasonable in design and stable and flexible in work.

Description

technical field [0001] The invention relates to a technology in the field of robot manufacturing, in particular to a robot gripper with online controllable clamping force and clamping speed. Background technique [0002] With the advent of the era of Industry 4.0, a particularly important trend will be individualized mass production. In order to realize personalized production, the factory must have the ability to deal with the processing of various parts, so the reprogrammability of processing equipment is essential. Most of the robotic grippers that are widely used in factories as robots are facing the following shortcomings: (1) can only control the opening and closing; (2) the clamping force is adjustable offline but cannot be programmed online in real time, such as pneumatic grippers The clamping force of the gripper can be adjusted by manually adjusting the opening and closing of the valve offline, but it cannot be controlled in real time through computer programming;...

AI Technical Summary

Problems solved by technology

Most of the robotic grippers that are widely used in factories as robots are facing the following shortcomings: (1) can only control the opening and closing; (2) the clamping force is adjustable offline but cannot be programmed online in real time, such as pneumatic grippers The clamping force of the gripper can be adjusted by manually adjusting the opening and closing of the valve offline, but it cannot be controlled in real time through computer programming; (3) The clamping speed cannot be programmed online; (4) Without adding a force sensor, Does not have force perception, cannot detect whether the workpiece is successfully clamped

This technology utilizes the rigid transmission of gears to convert the rotational motion of the motor into the opening and closing motion of the fingers. The grasping force is segmented control, which can only realize the segmental controllability of the grasping force, and cannot realize the continuous controllability of the grasping force. Adjustment, and in order to achieve grasping force feedback, the gripper must additionally install sensor seats and force tactile sensors at the end of the finger, making the overall structure more complex and redundant

Images