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Gripper for mobile robot, robot arm and mobile robot

A mobile robot and gripper technology, applied in the direction of manipulators, program-controlled manipulators, chucks, etc., can solve the problems of inability to open or close door handles, difficulty in robot control, and damage to door handles, etc., to achieve simple structure and practicability Strong and full use of resources

Active Publication Date: 2017-02-15
STATE GRID INTELLIGENCE TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, there is no mechanical gripper set up for opening or closing the door handle or valve. If only relying on the mechanical arm or ordinary electric gripper, it cannot open or close the door handle or valve well. The problem lies in the simple electric gripper. When the claw opens the door or opens the valve, it will bring a lot of difficulties to the robot control. Moreover, if the control is not in place, it is easy to cause damage to the door handle, resulting in the handle often needing to be replaced.

Method used

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  • Gripper for mobile robot, robot arm and mobile robot
  • Gripper for mobile robot, robot arm and mobile robot
  • Gripper for mobile robot, robot arm and mobile robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0055] Grippers for mobile robots, such as figure 1 , shown in Fig. 8, paw is grasped combination 3 by manipulator and controls door handle 13, then rotates by mechanical arm 1 terminal motor, opens, closes door handle, realizes the purpose of operating electric cabinet door.

[0056] Specifically, a connecting flange 2 is installed on the motor at the end of the mechanical arm 1 through screws, and two sets of hand grasping assemblies 3 are fixed on the connecting flange 2 through first screws 7 .

[0057] The gripper assembly 3 includes two mechanical fingers 6 respectively. The mechanical fingers 6 are symmetrically installed in pairs and facing each other. The mechanical fingers 6 are basically L-shaped. There are two threaded holes on one side, and only the nearest set of threaded holes is installed when fixing, and the second screw 11 is used to realize the fixing of the mechanical finger 6 and the connecting flange 2, such as Figure 5 As shown, there is an adjustment ...

Embodiment 2

[0067] The difference between this embodiment and embodiment 1 is:

[0068] In this embodiment, there is no adjustment gap between the mechanical fingers and the connecting flange. In this case, the entire mechanical gripper is only suitable for opening door handles or valves with a specific width range.

Embodiment 3

[0070] The gripper for mobile robots includes mechanical fingers that can move door handles or valve handles or valve handwheels driven by the rotation of the mechanical arm of the mobile robot.

[0071] In order to prevent the handle or valve from being separated from the mechanical finger during the rotation process, the surface of the mechanical finger in contact with the door handle or valve handle or valve hand wheel is provided with a protrusion for limiting the position of the door handle or valve handle or valve hand wheel .

[0072] When the above-mentioned mechanical finger is placed on the side of the door handle or valve handle, or on the side of the valve hand wheel rib, the rotation of the robot arm drives the mechanical finger to rotate to open the door handle or valve. When the mechanical finger When placed on the other side of the door panel or valve, the mechanical arm drives the mechanical finger to rotate in the opposite direction to close the door handle o...

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Abstract

The invention discloses a gripper for a mobile robot, a robot arm and the mobile robot. The gripper comprises a bottom plate. The bottom plate and a mechanical arm of the mobile robot are fixed, and the bottom plate rotates along with rotation of the mechanical arm. At least one mechanical finger is fixed to the bottom plate, and the mechanical fingers rotate under rotation of the mechanical arm so as to stir a door handle or a valve handle or a valve hand wheel. A finger elastic sheet with a protrusion is arranged on the inner side of each mechanical finger, the mechanical fingers can penetrate the door handle through the elastic function of the finger elastic sheets, the protrusions are used for fixing and limiting the door handle, the door handle is opened better, and meanwhile the fixing manner of the elastic sheets can guarantee elastic sheet fixing and can also achieve the telescopic effect.

Description

technical field [0001] The invention relates to the field of manufacture and control, in particular to a gripper for a mobile robot, a robot arm and a mobile robot. Background technique [0002] In today's application field of electric robots, it is no longer just satisfied with using robots to perform patrol work, but more and more robots are required to replace manual operations, such as opening and closing valves in valve halls with harsh environments , Open and close the electrical cabinet to check the internal problems of the electrical cabinet, etc. The door handle of the electrical cabinet is usually long, and the valve is usually a valve with a handle or a round handwheel with ribs. At present, there is no mechanical gripper set up for opening or closing door handles and valves. If only relying on mechanical arms or ordinary electric grippers, it cannot open or close door handles or valves well. The problem lies in the simple electric gripper. When the claw opens th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/00B25J9/12
CPCB25J9/12B25J15/00
Inventor 郝永鑫王海鹏董旭张方正李红梅苏建军慕世友李超英傅孟潮程学启李建祥王兴照吕俊涛
Owner STATE GRID INTELLIGENCE TECH CO LTD
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