Translation variable speed mechanical paw

A mechanical claw and translation technology, applied in the field of robotics, can solve the problems of clamping operation of difficult precision and fragile parts, and achieve the effect of reducing impact, improving work efficiency, and clamping stability and reliability

Inactive Publication Date: 2016-11-23
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The traditional electric gripper controls the movement speed of the finger by controlling the motor speed, but there are deficiencies in the existing technology, and it is difficult to realize the clamping operation of some delicate and fragile parts through the control method

Method used

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  • Translation variable speed mechanical paw
  • Translation variable speed mechanical paw
  • Translation variable speed mechanical paw

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Experimental program
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Embodiment Construction

[0015] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0016] Such as figure 1 with figure 2 As shown, a translational variable speed mechanical gripper includes a stepper motor 1, a coupling 2, a transmission mechanism, a first clamping member 9, a second clamping member 15, a first clamping finger 11, and a second clamping finger 13 , base plate 19, front baffle plate 10, rear baffle plate 20, slider 17, sliding linear guide rail 18; one end of said base plate 19 is connected with front baffle plate 10 by screws, and the other end is connected with rear baffle plate 20 by screws, The stepper motor 1 is fixed on the tailgate 20, and the output shaft of the stepper motor 1 is connected with the transmission mechanism through a shaft coupling 2; the sliding linear guide rail 18 is provided with two, which are fixed on the base plate 19 in parallel, so that There are four sliders...

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PUM

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Abstract

The invention discloses a translation speed variable mechanical paw. The translation speed variable mechanical paw comprises a stepping motor, a coupler, a transmission mechanism, a first clamping piece, a second clamping piece, a first clamping finger, a second clamping finger, a base plate, a front baffle, a back baffle, a sliding block and a sliding linear guideway. The mechanical paw is driven by the stepping motor; the rotation of the motor is transformed into the movement of the transmission sliding block through a screw nut transmission pair; meanwhile, ball bearings on two cylindrical pins of the transmission sliding block slide in a first arc-shaped sliding groove and a second arc-shaped sliding groove correspondingly and drive the first clamping piece and the second clamping piece to conduct opening or closing movement; and speed varying movement of fingertips of the mechanical paw is achieved through changes of curve parameters of the arc-shaped sliding grooves, and that is, closing in deceleration and opening in acceleration. According to the feature of the translation speed variable mechanical paw, the impact when the fingertips touch fragile targeted objects is reduced; the clamping is stable and reliable; and the working efficiency of the mechanical paw is improved.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a translational speed-changing mechanical claw. Background technique [0002] The robot gripper is the executive part located at the end of the robot arm. The flexibility, accuracy and stability of the gripper when grasping the target is an important indicator to measure the design level of the robot gripper. At present, the grippers of industrial robots can be divided into pneumatic type, hydraulic type, electric type, etc. according to the driving mode; Due to the simple structure and low cost of the pneumatic gripper, it is most commonly used in the field of automation where the requirements are not very high. Compared with the pneumatic gripper, the electric gripper has the following characteristics: the opening and closing of the electric gripper has the function of programmable control, which can realize multi-point positioning; the acceleration and deceleration of the elec...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/02
CPCB25J15/0253
Inventor 丁汇洋马立李丰甜
Owner SHANGHAI UNIV
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