Mechanical claw and control method

Abstract

The invention discloses a mechanical claw and a control method, and belongs to the technical field of mechanical tools. The mechanical claw comprises a mechanical arm body, an electric control module, a drive mechanism, a transmission mechanism and a claw mechanism. The mechanical arm body is connected with the electric control module, the electric control module controls a motor in the drive mechanism to rotate, the motor is connected with the transmission mechanism, and the transmission mechanism is connected with the claw mechanism and drives the claw mechanism to move. The transmission mechanism comprises a driving bevel gear and a driven bevel gear, and a transmission shaft of the claw mechanism is connected with the driven bevel gear in a matched mode so that the claw mechanism can move. The transmission direction of the torque of the motor can be changed by adopting the bevel gears for the transmission mechanism, so that the arrangement of parts is more reasonable, and the space occupied by the mechanisms is reduced. By adopting the asymmetric acceleration and deceleration control method, the movement efficiency and precision of the mechanical claw can be effectively improved, and vibration generated in the stopping stage of the claw mechanism can be reduced.

Description

technical field [0001] The invention relates to a mechanical claw and a control method, belonging to the technical field of mechanical tools. Background technique [0002] The mechanical claw is a commonly used device in the automation system. It is used to carry moving objects, or to clamp and fix the workpiece to be processed. It has the advantages of convenient use, simple structure, and good adaptability. According to the driving mode, it can be divided into motor drive, Driven by a cylinder, the general mechanical claw has many parts, the structure is more complex, and the control accuracy is poor. For the grasping of some fragile objects, it cannot be effectively grasped. [0003] Generally, the pose of the end of the mechanical claw is the result of the coordinated movement of each joint. Due to the error of the series structure, the actual pose of the end will deviate from the theoretical value calculated by each joint. How the end of the mechanical claw moves quick...

AI Technical Summary

Problems solved by technology

Conventional mechanical claw motion control is uniform speed control, but if the speed is too high, the movement mechanism will vibrate obviously when starting and stopping, and if the speed is too small, the processing efficiency cannot be guaranteed

For the movement process of the pre-work preparation of the mechanical claw, the vibration problem in the start-up phase may not be considered, but the impact of vibration must be considered in the stop phase. Simply adopting a smaller speed strategy to suppress vibration will inevitably lead to low motion efficiency. the result of,

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