A seven-degree-of-freedom controllable crank-link mechanical claw

Abstract

The invention provides a seven-degree-of-freedom controllable crank connecting rod type mechanical claw. One end of a first connecting rod is connected to a rack, the other end of the first connecting rod is connected with one end of a second connecting rod, the other end of the second connecting rod is connected with one end of a third connecting rod, and the other end of the third connecting rod is connected to an execution terminal; one end of a fourth connecting rod is connected to the rack, the other end of the fourth connecting rod is connected with one end of a fifth connecting rod, and the other end of the fifth connecting rod is connected to the third connecting rod; one end of a sixth connecting rod is connected to the rack, the other end of the six connecting rod is connected with one end of a seventh connecting rod, and the other end of the seventh connecting rod is connected with a first corner of a triangular connecting plate; one end of an eighth connecting rod is connected with a second corner of the triangular connecting plate, and the other end of the eighth connecting rod is connected with the execution terminal; one end of a ninth connecting rod is connected to the sixth connecting rod, and the other end of the ninth connecting rod is connected to a crank wheel; one end of a tenth connecting rod is connected to the crank wheel, and the other end of the tenth connecting rod is connected to the fifth connecting rod; and one end of an eleventh connecting rod is connected to the tenth connecting rod, and the other end of the eleventh connecting rod is connected to the third connecting rod. According to the seven-degree-of-freedom controllable crank connecting rod type mechanical claw, a crank connecting rod mechanism is adopted, movement precision is greatly improved, impact vibration is reduced, and the transmission efficiency is improved compared with a traditional mechanism.

Description

technical field [0001] The invention relates to the field of machinery, in particular to a seven-degree-of-freedom controllable crank-link mechanical gripper. Background technique [0002] The emergence of manipulators has brought about major changes in human life. Manipulators have a very large labor intensity, and can complete various tasks efficiently in a short period of time, and can also replace humans to complete some difficult and dangerous tasks. work thus ensuring the personal safety of workers. And it gradually accelerated the process of industrialization and became the backbone of industrial development. Therefore, the manipulator has received attention and promotion from all over the world. [0003] With the continuous advancement of science and technology, the requirements for modern machinery are continuously improved, and the requirements for precision are also gradually improved. At present, many link-type mechanical claws are hydraulic, which has a serie...

AI Technical Summary

Problems solved by technology

At present, many link-type mechanical claws are hydraulic, which has a series of advantages such as simple structure, low manufacturing cost, and large working space. However, their stiffness and strength are generally not high, and they are not suitable for high-precision, High-speed and high-load occasions and large motion shocks

And for the hydraulic type, not only the manufacturing precision of the hydraulic parts is high, the manufacturing and maintenance costs are high, the hydraulic oil is easy to fail due to heat during work, the cost of replacing the hydraulic oil is high, and the hydraulic system is easily affected by environmental factors, especially In a low temperature or high temperature environment, it is prone to weakness or damage to the hydraulic system

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